A Robot Vision Servo Control Method Based on Image Mixing Moments

A technology of robot vision and servo control, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of poor system robustness and versatility

Active Publication Date: 2021-06-15
CENT SOUTH UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a robot visual servo control system for extracting new features of images in order to solve the technical problem that simple geometric characteristics such as points, line segments, and arcs are mainly extracted from images in the current IBVS, which makes the system less robust and versatile. method

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  • A Robot Vision Servo Control Method Based on Image Mixing Moments
  • A Robot Vision Servo Control Method Based on Image Mixing Moments
  • A Robot Vision Servo Control Method Based on Image Mixing Moments

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Embodiment Construction

[0033] The present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0034] The present invention is based on the following principle: for an industrial robot with a camera installed at the end of the joint, the movement of each joint of the robot can be controlled through visual information, so as to realize a series of actions such as the robot avoiding obstacles and approaching the target. Since the relative pose relationship between the target and the robot body is implicit in the image features, the movement of the robot will cause changes in the imaging of the target in the image. The image Jacobian matrix describes the relationship between the movement of the robot end and the imaging change of the target in the image, namely in, is the rate of change of the image feature vector, is the velocity vector of the robot end effector, then the image Jacobian matrix L s Can be e...

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Abstract

The invention discloses a robot vision servo control method based on image mixing moment. Firstly, the hybrid moment feature construction corresponding to the spatial posture after imaging the target object in the desired pose of the robot is given; then the target image is obtained at any pose, the current blended moment feature information value is calculated, and according to the desired image and the current The information of the image calculates the deviation of the characteristic value of the mixing moment. If the deviation is less than the preset threshold, it means that the robot has reached the desired pose. Otherwise, the Jacobian matrix of the image related to the characteristic of the mixing moment is derived, and the visual servo controller is used to make the robot move towards the desired position. posture movement until the characteristic deviation is less than the preset threshold, and the control process ends. The present invention introduces the image domain mixing moment feature corresponding to the robot space motion trajectory as the control input, and completes the visual servo control of the eye-in-hand robot system in the case of an unknown workspace model, and can widely apply robot intelligent control based on machine vision .

Description

technical field [0001] The invention relates to a robot visual servo control method, which belongs to the fields of robotics, machine vision and control. Background technique [0002] In the past two decades, industrial robots have been widely used in many industrial environments. In order to meet the complex operation requirements, the research of robots has changed from the original simple mechanical control to the intelligent equipment of multi-sensor information fusion. Traditional robots can use conventional control strategies to perform repetitive production tasks when faced with a single job requirement and given system parameters. However, when faced with a complex job environment and uncertain system parameters, the end effector will Due to uncertainty, it cannot meet the needs of high-speed, high-precision, and intelligent operations. To improve the robustness of industrial robot control systems, vision sensors provide an effective solution to provide rich inform...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1671B25J9/1697
Inventor 徐德刚周雷沈添天洪松涛阳春华桂卫华
Owner CENT SOUTH UNIV
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